1:37
Mopping floor
13 actions8 skillsMCAP 1.5 GB
Mopping floor
Mopping floor clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
1,595 clips56.8 hCC-BY-4.0
Clips
1,595 clips
1:09
Mopping reception area floor
13 actions3 skillsMCAP 1.1 GB
1:33
Cleaning underside of stairs
13 actions16 skillsMCAP 1.7 GB
4:16
Mopping under classroom desks
13 actions16 skillsMCAP 3.9 GB
1:21
Mopping hallway floor
13 actions7 skillsMCAP 1.2 GB
1:40
Mopping tiled floor
13 actions5 skillsMCAP 1.4 GB
3:12
Mopping the floor
13 actions12 skillsMCAP 3.4 GB
1:27
Mopping office floor
13 actions6 skillsMCAP 1.3 GB
2:30
Mopping office floor
13 actions8 skillsMCAP 2.5 GB
1:38
Mopping hallway floor
13 actions5 skillsMCAP 1.6 GB
3:56
Mopping hallway floor
13 actions10 skillsMCAP 3.6 GB
2:40
Mopping classroom floor
13 actions9 skillsMCAP 2.8 GB
1:50
Mopping stairs
13 actions8 skillsMCAP 2.0 GB
1:57
Mopping tiled floor
13 actions5 skillsMCAP 1.6 GB
2:55
Mopping reception area floor
13 actions7 skillsMCAP 3.0 GB
2:02
Mopping floor
12 actions14 skillsMCAP 2.0 GB
2:04
Mopping floor in pool area
12 actions7 skillsMCAP 2.0 GB
1:48
Mopping tiled floor
12 actions13 skillsMCAP 1.5 GB
2:07
Mopping tiled floor
12 actions11 skillsMCAP 1.8 GB
1:28
Mopping restroom floor
12 actions5 skillsMCAP 1.2 GB
2:33
Mopping the floor
12 actions13 skillsMCAP 2.4 GB
1:59
Mopping building floors
12 actions5 skillsMCAP 1.8 GB
1:29
Mopping grey sports hall floor
12 actions5 skillsMCAP 1.3 GB
1:16
Mopping classroom floor
12 actions5 skillsMCAP 1.1 GB
In every MCAP
23 channels · one clock · ROS 2| Topic | Schema | Rate |
|---|---|---|
| /action | tad_msgs/msg/ActionPhase | 30 Hz |
| /ego/zed_head/depth/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/depth/image/compressed | sensor_msgs/msg/CompressedImage | 30 Hz |
| /ego/zed_head/imu/data | sensor_msgs/msg/Imu | 199.8 Hz |
| /ego/zed_head/left/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/left/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /ego/zed_head/odom | nav_msgs/msg/Odometry | 30 Hz |
| /ego/zed_head/right/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/right/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /hands/left/detected | std_msgs/msg/Bool | 30 Hz |
| /hands/left/keypoints | visualization_msgs/msg/MarkerArray | 30 Hz |
| /hands/left/odom | nav_msgs/msg/Odometry | 30 Hz |
| /hands/right/detected | std_msgs/msg/Bool | 30 Hz |
| /hands/right/keypoints | visualization_msgs/msg/MarkerArray | 30 Hz |
| /hands/right/odom | nav_msgs/msg/Odometry | 30 Hz |
| /tf | tf2_msgs/msg/TFMessage | 30 Hz |
| /tf_static | tf2_msgs/msg/TFMessage | 2.9 Hz |
| /wrist_left/image/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /wrist_left/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /wrist_left/imu/data | sensor_msgs/msg/Imu | 199.4 Hz |
| /wrist_right/image/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /wrist_right/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /wrist_right/imu/data | sensor_msgs/msg/Imu | 200 Hz |
Get the data
EgoViz-120 is 7.3 TB, served from a public Hugging Face Storage Bucket. Start with the index: one row per clip with category, title, skills, objects and paths, before you download any video.
Install and index
pip install -U huggingface_hub
hf auth login
B=hf://buckets/humaidtech/EgoViz-120
hf buckets cp $B/index.parquet index.parquetThis category
hf sync $B/data/mopping_floor ./mopping_floorPreviews and metadata only
hf sync $B/data ./egoviz --include "*.mp4" --include "*.json"Cite
@misc{egoviz120_2026,
title = {EgoViz-120: 120 Hours of Synchronized Real-World Egocentric Data},
author = {Humaid Tech Inc.},
year = {2026},
publisher = {Hugging Face},
howpublished = {\url{https://huggingface.co/datasets/humaidtech/EgoViz-120}}
}